2018
Dual-Arm Relative Tasks Performance Using Sparse Kinematic Control
Sonny Tarbouriech, Benjamin Navarro, Philippe Fraisse, André Crosnier, Andrea Cherubini, Damien Sallé
IROS 2018poster
To make production lines more flexible, dual-arm robots are good candidates to be deployed in autonomous assembly units. In this paper, we propose a sparse kinematic control strategy, that minimizes the number of joints actuated for a coordinated task between two arms. The control strategy is based…